Abstract: Stabilizing systems are necessary for the ship in wind and waves to ensure stable operations and improve the safety and comfort of the crew.As an effective stabilizer, gyrostabilizer acts entirely within the hull without requiring sufficient movable weight to generate a control moment. The nonlinear wave force disturbance model of the ship in random waves is firstly established. The combined dynamic model of the ship and the gyrostabilizer is then built together with the working principle of the gyrostabilizer. The corresponding MATLAB Simulink block diagramsof the ship motion control are constructed for two kinds of gyrostabilizer models, i.e., the natural-driven gyrostabilizer model and the controller-driven gyrostabilizer model. The results show that both the natural-driven and controller-driven gyrostabilizer are able to reduce the rolling motion through the gyroscopic effect of high-speed spinning and precession angel variation. The controller-driven gyrostabilizer can reduce the nonlinear rolling motion of the ship more effectively than the natural-driven gyrostabilizer.

Key words: roll, gyrostabilizer, irregular waves, control, precession angle

摘要： 船舶在航行过程中需要减摇系统来抵抗风浪,从而使其能够稳定作业,并提高安全性和船员的舒适度。陀螺减摇装置作为一种非常有效的减摇装置,其优点是其完全在船体内发挥作用,不需要足够的可移动质量来产生控制力矩。该文首先建立了船舶在随机海浪中的非线性波浪力扰动模型,并结合陀螺减摇装置工作原理,建立船舶与陀螺减摇装置联合动力学模型,分别为自然驱动和控制器驱动的2种陀螺稳定器模型,构造了相应的MATLAB Simulink船舶运动控制仿真框图。仿真结果表明：自然驱动和控制器驱动的陀螺稳定器都能通过轮子高速旋转和进动角变化的陀螺效应来减小横摇。与自然驱动的陀螺稳定器相比,控制器驱动的陀螺稳定器能更有效地减少船舶非线性横摇运动。

关键词: 船舶横摇, 陀螺减摇装置, 不规则波浪, 控制, 进动角